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WO2025049727A1 - Mise en prise conditionnelle de frein pour empêcher la conduite arrière de composants de système - Google Patents

Mise en prise conditionnelle de frein pour empêcher la conduite arrière de composants de système Download PDF

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Publication number
WO2025049727A1
WO2025049727A1 PCT/US2024/044405 US2024044405W WO2025049727A1 WO 2025049727 A1 WO2025049727 A1 WO 2025049727A1 US 2024044405 W US2024044405 W US 2024044405W WO 2025049727 A1 WO2025049727 A1 WO 2025049727A1
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WO
WIPO (PCT)
Prior art keywords
medical
operation mode
medical system
medical instrument
readable medium
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2024/044405
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English (en)
Inventor
Sang Gyum KIM
Samuel B. SCHORR
Shibing LIU
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of WO2025049727A1 publication Critical patent/WO2025049727A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0257—Proximity sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation

Definitions

  • Minimally invasive medical techniques are intended to reduce the amount of tissue that is damaged during medical procedures, thereby reducing patient recovery time, discomfort, and harmful side effects.
  • Such minimally invasive techniques may be performed through natural orifices in a patient anatomy or through one or more surgical incisions. Through these natural orifices or incisions, physicians may insert minimally invasive medical instruments (including surgical, diagnostic, therapeutic, and/or biopsy instruments) to reach a target tissue location.
  • minimally invasive medical instruments including surgical, diagnostic, therapeutic, and/or biopsy instruments
  • One such minimally invasive technique is to use a flexible and/or steerable elongate device, such as a flexible catheter or bronchoscope, that can be inserted into anatomic passageways and navigated toward a region of interest within the patient anatomy.
  • a medical instrument may be driven along one or more movement axes, and under other operating conditions, the medial instrument is not driven, i.e., kept stationary. In this case, an unintentional back-driving by external forces acting on the medical system may cause undesirable movement of the medical instrument.
  • a medical system comprises: a manipulator assembly comprising: an actuator for driving a medical instrument along an insertion axis of the manipulator assembly; and a brake for inhibiting movement of the medical instrument along the insertion axis; and a control system coupled to the manipulator assembly, the control system configured to: determine whether the medical system is in a first operation mode involving actuator driven movement of the medical instrument along the insertion axis or a second operation mode involving no actuator-driven movement of the medical instrument along the insertion axis; and based determining that the medical system is in the second operation mode, control the brake to inhibit movement of the medical instrument along the insertion axis caused by an external force.
  • a method for operating a medical system comprises: determining whether the medical system is in a first operation mode involving actuator-driven movement of a medical instrument along an insertion axis or a second operation mode involving no actuator driven movement of the medical instrument along the insertion axis; and based determining that the medical system is in the second operation mode, controlling a brake to inhibit movement of the medical instrument along the insertion axis caused by an external force.
  • FIG. 2A is a simplified diagram of a medical instrument system according to some embodiments.
  • FIG. 2B is a simplified diagram of a medical instrument including a medical tool within a flexible elongate device according to some embodiments.
  • FIG. 2C is a simplified perspective diagram of a manipulator assembly including an instrument and a manipulator arm holding the instrument according to some embodiments.
  • FIG. 2D shows a cross-sectional view of an actuator-brake assembly according to some embodiments.
  • FIGS. 3 A and 3B are simplified diagrams of side views of a patient coordinate space including a medical instrument mounted on an insertion assembly according to some embodiments.
  • FIG. 4 is a simplified perspective diagram of an input control console according to some embodiments.
  • FIG. 5 is an illustration of operation modes of a medical system according to some embodiments.
  • FIG. 6 is a flowchart of a method according to some embodiments.
  • the term “pose” refers to the position of an object or a portion of an object in at least one degree of translational freedom and to the orientation of that object or portion of the object in at least one degree of rotational freedom (e.g., up to six total degrees of freedom).
  • the term “shape” refers to a set of poses, positions, and/or orientations measured along an object.
  • distal refers to a position that is closer to a procedural site and the term “proximal” refers to a position that is further from the procedural site. Accordingly, the distal portion or distal end of an instrument is closer to a procedural site than a proximal portion or proximal end of the instrument when the instrument is being used as designed to perform a procedure.
  • Embodiments of the disclosure include medical systems and methods for operating such medical systems.
  • Medical systems may be medical systems that use flexible elongate devices (e.g., catheters, bronchoscopes, endoscopes, etc.), but also other medical systems.
  • a medical system may include a medical instrument, and the medical instrument may be driven along one or more movement axes.
  • the driving may involve an actuator driven movement of the medical instrument along an insertion axis to move the medical instrument towards or away from target tissue.
  • the driving may occur when the medical system operates in a first operation mode of the medical system.
  • the first operation mode may be associated with, for example, a navigation operation that involves movement of the medical instrument within an anatomical passageway toward the target tissue.
  • FIG. 1 is a simplified diagram of a medical system 100 according to some embodiments.
  • the medical system 100 may be suitable for use in, for example, surgical, diagnostic (e.g., biopsy), or therapeutic (e.g., ablation, electroporation, etc.) procedures. While some embodiments are provided herein with respect to such procedures, any reference to medical or surgical instruments and medical or surgical methods is nonlimiting.
  • the systems, instruments, and methods described herein may be used for animals, human cadavers, animal cadavers, portions of human or animal anatomy, non-surgical diagnosis, as well as for industrial systems, general or special purpose robotic systems, general or special purpose teleoperational systems, or robotic medical systems.
  • the control system 112 may include a virtual visualization system to provide navigation assistance to operator O when controlling the medical instrument 104 during an image-guided medical procedure.
  • Virtual navigation using the virtual visualization system may be based upon an acquired pre-operative or intra-operative dataset of anatomic passageways of the patient P.
  • the control system 112 or a separate computing device may convert the recorded images, using programmed instructions alone or in combination with operator inputs, into a model of the patient anatomy.
  • the model may include a segmented two- dimensional or three-dimensional composite representation of a partial or an entire anatomic organ or anatomic region.
  • An image data set may be associated with the composite representation.
  • the medical instrument system 200 may be used for non-teleoperational exploratory procedures or in procedures involving traditional manually operated medical instruments, such as endoscopy.
  • the medical instrument system 200 may be used to gather (e.g., measure) a set of data points corresponding to locations within anatomic passageways of a patient, such as patient P.
  • the tracking system 230 may alternately and/or additionally rely on a collection of pose, position, and/or orientation data stored for a point of an elongate device 202 and/or medical tool 226 captured during one or more cycles of alternating motion, such as breathing. This stored data may be used to develop shape information about the flexible body 216.
  • a series of position sensors (not shown), such as EM sensors like the sensors in position sensor system 220 or some other type of position sensors may be positioned along the flexible body 216 and used for shape sensing.
  • a history of data from one or more of these position sensors taken during a procedure may be used to represent the shape of elongate device 202, particularly if an anatomic passageway is generally static.
  • FIG. 2B is a simplified diagram of the flexible tool 226 within the elongate device 202 according to some embodiments.
  • the flexible body 216 of the elongate device 202 may include the lumen 221 sized and shaped to receive the flexible tool 226.
  • the flexible tool 226 may be used for procedures such as diagnostics, imaging, surgery, biopsy, ablation, illumination, irrigation, suction, electroporation, etc.
  • Flexible tool 226 can be deployed through channel or lumen 221 of flexible body 216 and operated at a procedural site within the anatomy.
  • Flexible tool 226 may be, for example, an image capture probe, a biopsy tool (e.g., a needle, grasper, brush, etc.), an ablation tool (e.g., a laser ablation tool, radio frequency (RF) ablation tool, cryoablation tool, thermal ablation tool, heated liquid ablation tool, etc.), an electroporation tool, and/or another surgical, diagnostic, or therapeutic tool.
  • the flexible tool 226 may include an end effector having a single working member such as a scalpel, a blunt blade, an optical fiber, an electrode, and/or the like.
  • Other end types of end effectors may include, for example, forceps, graspers, scissors, staplers, clip appliers, and/or the like.
  • Other end effectors may further include electrically activated end effectors such as electrosurgical electrodes, transducers, sensors, and/or the like.
  • FIG. 3A shows the instrument body 312 and the instrument carriage 306 in a retracted position along the insertion stage 308.
  • the proximal point 316 is at a position L0 on the insertion axis A.
  • the location of the proximal point 316 may be set to a zero value and/or other reference value to provide a base reference (e.g., corresponding to the origin of a desired reference frame) to describe the position of the instrument carriage 306 along the insertion stage 308.
  • the distal end 318 of the elongate device 310 may be positioned just inside an entry orifice of patient P.
  • the rotation and/or orientation of the actuators measured by the sensor device 320 indicating movement of the instrument carriage 306 along the insertion stage 308 and/or one or more position sensors associated with instrument carriage 306 and/or the insertion stage 308 may be used to determine the position LI of the proximal point 316 relative to the position L0.
  • the position LI may further be used as an indicator of the distance or insertion depth to which the distal end 318 of the elongate device 310 is inserted into the passageway(s) of the anatomy of patient P.
  • input control console 400 is suitable for use as a patient-side input control unit for the elongate device and may, for example, be mounted in proximity to insertion stage 308.
  • the one or more circuit boards, logic boards, and/or the like may include memory and one or more one or more processors, multi-core processors, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), and/or the like.
  • the memory may include one or more types of machine-readable media. Some common forms of machine- readable media may include floppy disk, flexible disk, hard disk, magnetic tape, any other magnetic medium, CD-ROM, any other optical medium, RAM, PROM, EPROM, FLASH- EPROM, any other memory chip or cartridge, and/or any other medium from which a processor or computer is adapted to read.
  • insertion/retraction control 440 is a single degree of freedom infinite length of travel input control providing infinite length of travel along a first axis usable by the operator to control the insertion depth of the distal end of the elongate device.
  • Insertion/retraction control 440 is depicted as a scroll wheel, however, other types of input controls, including non-infinite length of travel input controls, are possible.
  • scrolling of the scroll wheel forward away from the operator increases the insertion depth (insertion) of the distal end of the elongate device and scrolling of the scroll wheel backward toward the operator decreased the insertion depth (retraction) of the distal end of the elongate device.
  • insertion/retraction control 440 is usable by the operator to move instrument carriage 306 in and out along insertion stage 308 in order to control the insertion depth of distal end 318.
  • insertion/retraction control 440 When insertion/retraction control 440 is an infinite length of travel input control, operating insertion/retraction control 440 in a position-specifying mode allows the operator to exercise precise insertion depth control of the distal end of the elongate device over the full length of travel of the elongate device.
  • movement of insertion/retraction control 440 may be detected by the one or more circuit boards, logic boards, and/or the like of input control console 400 using one or more encoders, resolvers, optical sensors, hall effect sensors, and/or the like (not shown).
  • feedback applied via one or more electromagnetic actuators, and/or the like may optionally be used to apply haptic feedback to insertion/retraction control 440.
  • steering control 460 is a multi-degree of freedom infinite length of travel input control providing infinite length of travel about any number of axes, which in practice may be decomposed into combinations of a left and right rotation, a forward and back rotation, and a spin in place rotation.
  • Steering control 460 is depicted as a track ball, however, other types of input controls, including non-infinite length of travel input controls, are possible.
  • Steering control 460 is usable by the operator to concurrently control both the pitch and yaw of the distal end of the elongate device.
  • insertion/retraction control 440 and/or steering control 460 include a touch sensor.
  • the touch sensor may be a capacitive touch sensor or any other type of touch sensor.
  • a pressure sensor may be included.
  • the touch and/or pressure sensor at the input control console 400 may be used to differentiate intended movement by the operator from inadvertent movement due to accidental contact, dropping of input control console 400, and/or the like.
  • Other types of proximity sensors e.g., ultrasonic sensors, vision sensors, light walls, and/or the like
  • one or more wrist detection sensors e.g., capacitive touch, pressure, and/or similar sensors in a wrist rest may be used to detect operator proximity to the input controls.
  • FIG. 5 is an illustration of operation modes of a medical system according to some embodiments.
  • the example shows two different operation modes - a first operation mode 510 and a second operation mode 520.
  • a first transition 530 enables the medical system to transition from operating in the first operation mode 510 to the second operation mode 520
  • a second transition 540 enables the medical system to transition from operating in the second operation mode 520 to the first operation mode 510.
  • a medical system may have any number of operation modes, without departing from the disclosure.
  • the first operation mode, the second operation mode, the first transition and the second transition are subsequently discussed.
  • the first operation mode 510 may be used for operations that involve an actuator driven movement of the medical instrument along a movement axis, e.g., along an insertion axis to move the medical instrument towards or away from target tissue.
  • the first operation mode may be used, for example, when performing a navigation operation.
  • a controller e.g., based on a servo control loop, may control position and/or velocity of the actuator that causes the movement of the medical instrument along the movement axis.
  • the controller may receive a commanded position and/or velocity and may cause movement according to the commanded position and/or velocity.
  • a user may operate the insertion/retraction control 440 to provide the commanded position and/or velocity, thereby causing a corresponding movement along the insertion axis by servoing the actuator to follow the commanded position and/or velocity.
  • the actuator may be equipped with a brake.
  • the brake is controlled to be released, allowing actuator driven movement of the medical instrument along the movement axis.
  • the second operation mode 520 may be used for operations that do not involve an active driving of the actuator to cause movement of the medical instrument along the movement axis.
  • the second operation mode may be used, for example, when conducting a medical operation on the target tissue, e.g., one or more of a biopsy, an ablation, an electroporation, etc.
  • the controller that controls the position and/or velocity of the actuator may be configured to hold a current position, e.g., by commanding a constant position and/or zero velocity.
  • the second mode of operation may be associated with system and/or procedural states associated with the user being unlikely to intend actuator driven movement and/or the user being likely to apply external force.
  • the actuator while controlled to hold the current position may produce a finite force or torque. Accordingly, an externally applied force or torque, when sufficiently high, could result in a back-driving of the actuator, even while the actuator is being servoed to hold the current position.
  • back-driving of the medical instrument 304 along the insertion axis may occur under various circumstances, such as when inserting and/or mounting a flexible tool 226 (e.g., an image capture probe, a biopsy tool, etc.) or accidentally contacting the instrument body 312, etc.
  • Such back-driving results in motion of the elongate device 310.
  • the elongate device 310 may move slightly in the insertion direction.
  • the servo-controlled actuator may compensate for the back-driving and cause the actuator to return to the originally held position. This causes the flexible elongate device 310 to move in a retraction direction, back to the original insertion depth.
  • the flexible elongate device 310 may move slightly in the retraction direction.
  • the servo-controlled actuator may compensate for the back-driving and cause the actuator to return to the originally held position.
  • the brake is controlled (e.g., engaged or otherwise applied) to inhibit movement of the medical instrument along the motion axis the second operation mode 520, such as may be caused by an external force.
  • the application of the brake may reduce or eliminate a possible back-driving in the previously described scenarios.
  • the servoing of the actuator may continue while the brake is applied such that the brake and the servoing jointly counteract the back- driving.
  • the brake is controlled (e.g., released or otherwise not applied) to allow actuator driven movement of the medical instrument along the motion axis in the first operation mode 510.
  • transitioning between the first and second operation modes including the engaging and releasing of the brake is subsequently described in reference to the flowchart of FIG. 6.
  • engagement or release of the brake for motion axis may be triggered based on transitions between the first and second operation modes.
  • the second operation mode may be determined based on a user request. For example, a user may provide a control input explicitly specifying that the system is to be operated in the second operation mode.
  • determining that the medical system is in the first operation mode involving actuator driven movement of the medical instrument along the insertion axis may be performed as follows.
  • the first operation mode may be determined based on sensor data obtained from the sensors of the medical system. Various sensors may be used to determine that the user intends to drive the instrument along the insertion axis.
  • a touch sensor, pressure sensor, proximity sensor, and/or other sensor may be used to detect a presence or absence of the user’s hand on or near the input device used for controlling the medical instrument along the insertion axis.
  • an absence of a vision probe may serve as an indication that the user does not intend to drive the medical instrument along the insertion axis
  • the detection of the user’s hand at or near the input device would result in the determination of the first operation mode, to ensure responsiveness of the medical system to a user input, even in absence of the vision probe.
  • a tool recognition sensor may be used to detect a presence or absence of a tool in the medical device.
  • the tool may be a vision probe such as an endoscope-type camera or a tool used to perform a procedure (e.g., a biopsy, ablation, electroporation, etc.).
  • the vision probe may be used to obtain visual feedback during a navigation operation when driving the medical instrument along the insertion axis. Accordingly, a presence of the vision probe may serve as an indication that the user intends to drive the medical instrument along the insertion axis.
  • the first operation mode may be determined when the tool recognition sensor detects an insertion of the vision probe.
  • the first operation mode may be determined when the tool recognition sensor detects a removal of a tool for performing a procedure.
  • the first operation mode may be determined based on a user request. For example, a user may provide a control input explicitly specifying that the system is to be operated in the first operation mode.
  • the method 600 may be executed in a loop that enables repeated transitions between the first and second operation modes.
  • the medical system may remain in the first and second operation modes for any amount of time, until a first or second transition occurs.
  • the engagement and release of the brake is not directly coupled to an actual absence or presence of an actuator-driven movement, which could result in a frequent and excessive engagement and release of the brake.
  • the driving and the absence of driving in the foreseeable future are predicted as states, thereby limiting the cycling of the brake between engaged and released to a lower frequency, while ensuring that spontaneous driving is possible, when needed.
  • the likeliness of undesirable back-driving may be affected by actuator size, mechanical design, and/or current mechanical or kinematic configuration.
  • gravity may further increase the likelihood of back-driving, if the back-driving occurs in a non-horizontal direction, merely based on the additional weight that needs to be supported by the actuator being servoed.
  • the engaging of the brake may be necessary to avoid back-driving when the insertion axis is in a vertical direction or non-horizontal direction, but not to avoid back-driving when the insertion axis is in a horizontal direction.
  • the computer readable storage medium may be part of a computer readable storage device, such as an electronic circuit, a semiconductor device, a semiconductor memory device, a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM), a floppy diskette, a CD-ROM, an optical disk, a hard disk, or other storage device.
  • the code may be downloaded via computer networks such as the Internet, Intranet, etc. for storage on the computer readable storage medium.
  • the code may be executed by any of a wide variety of centralized or distributed data processing architectures.
  • the programmed instructions of the code may be implemented as a number of separate programs or subroutines, or they may be integrated into a number of other aspects of the systems described herein.
  • wireless connections may use wireless communication protocols such as Bluetooth, near-field communication (NFC), Infrared Data Association (IrDA), home radio frequency (HomeRF), IEEE 802.11, Digital Enhanced Cordless Telecommunications (DECT), and wireless medical telemetry service (WMTS).
  • wireless communication protocols such as Bluetooth, near-field communication (NFC), Infrared Data Association (IrDA), home radio frequency (HomeRF), IEEE 802.11, Digital Enhanced Cordless Telecommunications (DECT), and wireless medical telemetry service (WMTS).

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)

Abstract

Un système médical comprend un ensemble manipulateur et un système de commande couplé à l'ensemble manipulateur. L'ensemble manipulateur comprend un actionneur pour entraîner un instrument médical le long d'un axe d'insertion de l'ensemble manipulateur et un frein pour empêcher le mouvement de l'instrument médical le long de l'axe d'insertion. Le système de commande est conçu pour déterminer si le système médical est dans un premier mode de fonctionnement impliquant un mouvement entraîné par un actionneur de l'instrument médical le long de l'axe d'insertion ou un second mode de fonctionnement n'impliquant pas de mouvement entraîné par un actionneur de l'instrument médical le long de l'axe d'insertion, et sur la base de la détermination du fait que le système médical est dans le second mode de fonctionnement, commander le frein pour empêcher le mouvement de l'instrument médical le long de l'axe d'insertion provoqué par une force externe.
PCT/US2024/044405 2023-08-31 2024-08-29 Mise en prise conditionnelle de frein pour empêcher la conduite arrière de composants de système Pending WO2025049727A1 (fr)

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US202363535922P 2023-08-31 2023-08-31
US63/535,922 2023-08-31

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